version: 66.04
glider: 166
mission: 2
dive: 458
start: 8 8 109 12 45 57
data:
$ID,166
$MISSION,2
$DIVE,458
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14842.716
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.273609
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,123206,2415.999,12543.108,25,1.4,25,-3.6
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-61.4
$GPS2,124534,2415.885,12543.340,11,99.0,30,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,RET_1
$TGT_LATLONG,2356.200,12530.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,240.3,42882,-13.9,-10.000
$D_GRID,1400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.07,-243.4,0.0,0.0,0,90,0.00,0.00,-71.78,0.000,2,0.000,0.000,143,2017,2637
$GC,94,-1.07,-243.4,3.6,-6.0,11,141,9.20,2.10,-32.58,0.000,4,0.227,0.052,2412,669,3940
$GC,195,-1.07,-243.4,21.9,-19.2,27,201,0.00,2.05,0.00,0.000,6,0.000,0.033,2407,2061,3941
$GC,540,-1.07,-243.4,78.0,-16.9,88,547,0.00,2.10,0.00,0.000,4,0.000,0.039,2412,679,3941
$GC,559,-1.07,-243.4,81.7,-18.7,91,566,0.00,2.05,0.00,0.000,6,0.000,0.033,2410,2076,3940
$GC,905,-1.07,-243.4,128.1,-6.5,152,911,0.00,2.08,0.00,0.000,4,0.000,0.045,2413,3461,3942
$GC,966,-1.07,-243.4,132.8,-8.5,162,973,0.00,2.03,0.00,0.000,6,0.000,0.028,2413,2044,3941
$GC,1312,-1.07,-243.4,179.6,-14.1,223,1318,0.00,2.08,0.00,0.000,4,0.000,0.040,2414,662,3942
$GC,1350,-1.07,-243.4,184.6,-14.2,229,1358,0.00,2.03,0.00,0.000,6,0.000,0.031,2411,2059,3942
$GC,1697,-1.07,-243.4,222.7,-11.3,290,1703,0.00,2.10,0.00,0.000,4,0.000,0.046,2408,3461,3942
$GC,1761,-1.07,-243.4,230.6,-12.8,301,1768,0.00,2.03,0.00,0.000,6,0.000,0.028,2410,2047,3942
$GC,2107,-1.07,-243.4,275.1,-10.8,362,2114,0.00,2.05,0.00,0.000,4,0.000,0.041,2408,659,3942
$GC,2160,-1.07,-243.4,281.2,-11.0,371,2166,0.00,2.05,0.00,0.000,6,0.000,0.032,2407,2062,3942
$GC,2496,-1.07,-243.4,316.5,-10.8,418,2499,0.00,2.10,0.00,0.000,4,0.000,0.045,2406,3461,3940
$GC,2569,-1.07,-243.4,325.2,-12.0,424,2576,0.00,2.03,0.00,0.000,6,0.000,0.029,2409,2075,3940
$GC,2898,-1.07,-243.4,359.4,-9.9,455,2902,0.00,2.10,0.00,0.000,4,0.000,0.041,2408,660,3939
$GC,2945,-1.07,-243.4,364.7,-11.2,459,2949,0.00,2.08,0.00,0.000,6,0.000,0.033,2406,2075,3939
$GC,3278,-1.07,-243.4,400.5,-11.0,490,3282,0.00,2.10,0.00,0.000,4,0.000,0.048,2407,3465,3937
$GC,3336,-1.07,-243.4,406.9,-10.6,495,3339,0.00,2.00,0.00,0.000,6,0.000,0.029,2407,2080,3937
$GC,3667,-1.07,-243.4,439.5,-9.3,526,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2079,3935
$GC,3986,-1.07,-243.4,472.1,-10.4,556,3989,0.00,2.12,0.00,0.000,4,0.000,0.048,2402,3459,3934
$GC,4024,-1.07,-243.4,476.3,-10.1,559,4030,0.00,1.98,0.00,0.000,6,0.000,0.031,2404,2100,3933
$GC,4351,-1.07,-243.4,508.7,-9.5,586,4354,0.00,2.10,0.00,0.000,4,0.000,0.050,2395,3461,3931
$GC,4390,-1.07,-243.4,512.9,-9.7,587,4396,0.00,1.98,0.00,0.000,6,0.000,0.031,2397,2103,3930
$GC,4707,-1.07,-243.4,543.4,-10.4,603,4710,0.00,2.17,0.00,0.000,4,0.000,0.044,2398,660,3928
$GC,4741,-1.07,-243.4,547.4,-11.6,604,4746,0.12,2.15,0.00,0.000,6,0.133,0.036,2425,2111,3927
$GC,5062,-1.07,-243.4,579.6,-10.0,620,5066,0.00,2.08,0.00,0.000,4,0.000,0.052,2423,3465,3924
$GC,5135,-1.07,-243.4,587.3,-10.4,623,5138,0.00,1.98,0.00,0.000,6,0.000,0.033,2427,2115,3924
$GC,5465,-1.07,-243.4,621.2,-10.4,639,5468,0.00,2.10,0.00,0.000,4,0.000,0.052,2426,3468,3921
$GC,5537,-1.07,-243.4,629.1,-10.1,642,5541,0.00,1.95,0.00,0.000,6,0.000,0.034,2427,2133,3921
$GC,5866,-1.07,-243.4,659.8,-9.0,658,5869,0.00,2.22,0.00,0.000,4,0.000,0.047,2428,668,3917
$GC,5883,-1.07,-243.4,661.5,-8.7,658,5889,0.00,2.22,0.00,0.000,6,0.000,0.041,2426,2144,3918
$GC,6199,-1.07,-243.4,689.1,-9.0,674,6203,0.00,2.05,0.00,0.000,4,0.000,0.056,2427,3465,3915
$GC,6251,-1.07,-243.4,693.8,-9.2,676,6255,0.00,1.98,0.00,0.000,6,0.000,0.035,2427,2123,3914
$GC,6579,-1.07,-243.4,726.1,-10.5,692,6583,0.00,2.10,0.00,0.000,4,0.000,0.057,2426,3459,3911
$GC,6635,-1.07,-243.4,732.5,-11.1,694,6639,0.00,1.90,0.00,0.000,6,0.000,0.035,2426,2173,3911
$GC,6958,-1.07,-243.4,766.7,-10.6,710,6962,0.00,2.03,0.00,0.000,4,0.000,0.056,2420,3462,3909
$GC,7008,-1.07,-243.4,772.1,-10.2,712,7011,0.00,1.90,0.00,0.000,6,0.000,0.035,2421,2198,3909
$GC,7335,-1.07,-243.4,806.6,-10.6,728,7338,0.00,2.00,0.00,0.000,4,0.000,0.058,2416,3467,3906
$GC,7382,-1.07,-243.4,811.5,-11.1,730,7386,0.00,1.88,0.00,0.000,6,0.000,0.036,2417,2225,3906
$GC,7715,-1.07,-243.4,848.0,-10.8,746,7718,0.00,1.95,0.00,0.000,4,0.000,0.060,2418,3457,3904
$GC,7761,-1.07,-243.4,853.1,-11.5,748,7764,0.00,1.83,0.00,0.000,6,0.000,0.044,2418,2260,3903
$GC,8094,-1.07,-243.4,890.0,-11.0,764,8098,0.00,2.47,0.00,0.000,4,0.000,0.050,2419,660,3902
$GC,8150,-1.07,-243.4,896.8,-12.4,766,8156,0.00,2.47,0.00,0.000,6,0.000,0.044,2410,2272,3901
$GC,8466,-1.07,-243.4,931.0,-10.6,782,8471,0.00,2.50,0.00,0.000,4,0.000,0.050,2411,664,3900
$GC,8489,-1.07,-243.4,933.6,-11.5,783,8494,0.00,2.50,0.00,0.000,6,0.000,0.045,2399,2283,3899
$GC,8812,-1.07,-243.4,967.2,-10.2,799,8816,0.00,2.53,0.00,0.000,4,0.000,0.050,2402,662,3897
$GC,8896,-1.07,-243.4,976.3,-10.8,803,8901,0.12,2.47,0.00,0.000,6,0.143,0.046,2423,2258,3897
$STATE,9057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9057,begin apogee
$GC,9066,-0.28,0.0,991.1,8.9,811,9280,0.75,0.00,209.95,1.470,6,0.099,0.000,2673,1704,2945
$STATE,9280,end apogee,CONTROL_FINISHED_OK
$STATE,9280,begin climb
$GC,9283,1.07,243.4,1005.2,0.0,822,9513,1.20,2.35,217.93,1.423,4,0.051,0.058,3132,295,1952
$GC,9593,1.07,243.4,979.7,13.9,836,9597,0.00,2.17,0.00,0.000,6,0.000,0.042,3132,1695,1946
$GC,9917,1.07,243.4,937.1,13.0,852,9920,0.00,2.20,0.00,0.000,4,0.000,0.056,3131,3100,1943
$GC,9955,1.07,243.4,931.4,13.4,853,9962,0.12,2.15,0.00,0.000,6,0.191,0.043,3111,1690,1942
$GC,10272,1.07,243.4,895.3,11.2,869,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1690,1941
$GC,10581,1.07,243.4,860.4,11.4,884,10585,0.00,2.22,0.00,0.000,4,0.000,0.056,3109,3099,1940
$GC,10687,1.07,243.4,847.2,12.6,888,10694,0.00,2.15,0.00,0.000,6,0.000,0.043,3114,1706,1939
$GC,11004,1.07,243.4,809.6,12.0,904,11008,0.00,2.22,0.00,0.000,4,0.000,0.056,3124,289,1939
$GC,11044,1.07,243.4,804.2,13.2,905,11050,0.00,2.17,0.00,0.000,6,0.000,0.043,3124,1711,1938
$GC,11360,1.07,243.4,764.9,12.2,921,11364,0.00,2.20,0.00,0.000,4,0.000,0.060,3123,3101,1938
$GC,11388,1.07,243.4,761.0,13.2,922,11392,0.00,2.12,0.00,0.000,6,0.000,0.043,3133,1707,1937
$GC,11716,1.07,243.4,719.9,13.0,938,11719,0.00,2.22,0.00,0.000,4,0.000,0.056,3143,286,1937
$GC,11818,1.07,243.4,706.4,13.0,942,11823,0.15,2.15,0.00,0.000,6,0.187,0.042,3108,1697,1936
$GC,12134,1.07,243.4,670.2,11.1,957,12138,0.00,2.20,0.00,0.000,4,0.000,0.055,3104,3103,1936
$GC,12151,1.07,243.4,668.1,11.2,957,12158,0.00,2.15,0.00,0.000,6,0.000,0.042,3113,1687,1935
$GC,12468,1.07,243.4,633.3,11.0,973,12472,0.00,2.20,0.00,0.000,4,0.000,0.056,3125,286,1935
$GC,12541,1.07,243.4,624.9,11.2,976,12545,0.00,2.10,0.00,0.000,6,0.000,0.043,3125,1665,1935
$GC,12869,1.07,243.4,590.5,10.0,992,12872,0.00,2.22,0.00,0.000,4,0.000,0.054,3125,3094,1935
$GC,12992,1.07,243.4,577.7,10.1,997,12996,0.00,2.12,0.00,0.000,6,0.000,0.042,3133,1697,1935
$GC,13314,1.07,243.4,545.3,10.1,1013,13317,0.00,2.20,0.00,0.000,4,0.000,0.054,3134,3094,1935
$GC,13354,1.08,251.8,540.9,9.8,1014,13366,0.00,2.10,6.10,0.976,6,0.000,0.041,3142,1714,1917
$GC,13695,1.08,251.8,502.4,11.7,1031,13699,0.00,2.25,0.00,0.000,4,0.000,0.055,3153,278,1917
$GC,13799,1.08,251.8,490.1,12.0,1039,13803,0.15,2.20,0.00,0.000,6,0.181,0.042,3118,1705,1917
$GC,14129,1.14,296.2,457.8,8.8,1070,14186,0.00,2.33,43.53,1.083,4,0.000,0.054,3127,270,1736
$GC,14285,1.14,296.2,441.4,11.6,1083,14291,0.00,2.30,0.00,0.000,6,0.000,0.041,3127,1755,1733
$GC,14613,1.15,306.1,406.6,9.7,1114,14627,0.00,2.15,10.12,0.986,4,0.000,0.053,3128,3094,1695
$GC,14668,1.15,306.1,400.6,10.5,1118,14675,0.00,2.03,0.00,0.000,6,0.000,0.040,3136,1762,1694
$GC,14997,1.15,306.1,361.3,11.6,1149,15001,0.00,2.30,0.00,0.000,4,0.000,0.052,3147,286,1693
$GC,15121,1.15,306.1,347.0,10.4,1159,15127,0.00,2.17,0.00,0.000,6,0.000,0.040,3147,1719,1693
$GC,15448,1.20,352.0,316.7,8.7,1190,15495,0.00,2.38,41.33,0.989,4,0.000,0.051,3158,272,1510
$GC,15604,1.20,352.0,300.8,11.5,1203,15610,0.00,2.30,0.00,0.000,6,0.000,0.038,3158,1777,1508
$GC,15949,1.20,352.0,259.2,11.1,1264,15956,0.00,2.33,0.00,0.000,4,0.000,0.048,3168,279,1506
$GC,15996,1.20,352.0,254.2,10.6,1272,16003,0.00,2.22,0.00,0.000,6,0.000,0.038,3169,1753,1506
$GC,16342,1.20,352.0,222.3,10.2,1333,16348,0.00,2.28,0.00,0.000,4,0.000,0.048,3180,280,1506
$GC,16472,1.20,352.0,205.7,14.3,1356,16479,0.00,2.28,0.00,0.000,6,0.000,0.036,3181,1796,1505
$GC,16818,1.33,457.1,168.0,7.1,1417,16915,0.00,2.10,92.30,0.840,4,0.000,0.044,3181,3097,1081
$GC,16946,1.36,481.0,156.5,9.3,1437,16973,0.00,2.10,22.05,0.778,6,0.000,0.034,3192,1743,984
$GC,17312,1.36,481.0,112.4,11.5,1501,17319,0.00,2.08,0.00,0.000,4,0.000,0.042,3194,3108,983
$GC,17409,1.36,481.0,101.0,11.3,1518,17417,0.00,2.00,0.00,0.000,6,0.000,0.034,3202,1785,984
$GC,17758,1.36,481.0,61.0,10.5,1579,17764,0.00,2.28,0.00,0.000,4,0.000,0.045,3211,289,982
$GC,17882,1.36,481.0,47.4,10.1,1601,17889,0.00,2.25,0.00,0.000,6,0.000,0.031,3212,1797,982
$GC,18228,1.36,481.0,11.9,11.6,1662,18235,0.00,2.30,0.00,0.000,4,0.000,0.042,3220,277,982
$GC,18294,1.36,481.0,4.8,11.5,1673,18300,0.00,2.20,0.00,0.000,6,0.000,0.030,3223,1790,982
$STATE,18305,end climb,SURFACE_DEPTH_REACHED
$STATE,18305,begin surface coast
$FINISH,0.7,1.019354
$STATE,18329,end surface coast,CONTROL_FINISHED_OK
$STATE,18329,begin surface
$SM_CCo,18409,0.00,0.000,0,0,981,481.77
$SM_GC,1.69,8.00,0.00,0.00,0.038,0.000,0.000,150,2099,981,-8.11,1.07,481.77
$IRIDIUM_FIX,2408.65,12544.08,021198,121245
$TT8_MAMPS,0.026845
$HUMID,1647
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,24.80
$XPDR_PINGS,162
$24V_AH,22.9,101.346
$10V_AH,10.6,66.526
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.825,190.400,643.300,0.000,0.000,48.748,64.809,429.530,48.500,0.000,0.000,31.854,2958.617,10921.068,755.057,3493.066,1069.415,0.000,2341.069,0.000,3444.965,0.000,54.419,0.000
$DEVICE_MAMPS,227.032,59.826,1470.339,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1139.230,1151.050,1932.898,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98015,1679
$CAP_FILE_SIZE,183194,0
$CFSIZE,260165632,197410816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164, 77.9,1
$GPS,080809,175406,2415.401,12543.287,37,1.2,42,-3.6